Design and Calibration of a New 6 DOF Haptic Device

Sensors

Huanhuan Qin¹  Aiguo Song¹  Yuqing Liu²  Guohua Jiang²  Bohe Zhou² 

[1] School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China;National Key Laboratory of Human Factors Engineering, China Astronaut Research and Training Center, Beijing 100094, China;

关键词: haptic device;    force feedback;    position tracking;    hybrid structure;    calibration;   

DOI  :  10.3390/s151229857

来源: mdpi

【 摘 要 】

For many applications such as tele-operational robots and interactions with virtual environments, it is better to have performance with force feedback than without. Haptic devices are force reflecting interfaces. They can also track human hand positions simultaneously. A new 6 DOF (degree-of-freedom) haptic device was designed and calibrated in this study. It mainly contains a double parallel linkage, a rhombus linkage, a rotating mechanical structure and a grasping interface. Benefited from the unique design, it is a hybrid structure device with a large workspace and high output capability. Therefore, it is capable of multi-finger interactions. Moreover, with an adjustable base, operators can change different postures without interrupting haptic tasks. To investigate the performance regarding position tracking accuracy and static output forces, we conducted experiments on a three-dimensional electric sliding platform and a digital force gauge, respectively. Displacement errors and force errors are calculated and analyzed. To identify the capability and potential of the device, four application examples were programmed.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.